Macbook pro 13" compile Apollo 2.5

STEPS:

 

0. Install Homebrew

1.  Install 'Docker for Mac 18.03+'，配置CPUs (n個CPUs，Bazel開n個線程編譯), Memory (>2G，編譯最小內存，推薦4G), Swap (>2G，推薦2G)

2. git clone ... apollo ...

3. 進入apollo目錄，pull docker image for apollo (首次運行會pull 5G 的images)

./docker/scripts/dev_start.sh

*注意 這裏的dev_start.sh須要修改下來適配Docker for Mac特性, 須要改爲手動配置端口映射：

Replace
--net host \

with bellow, both 8887 and 8888 works.
-p 8887:8887 -p 8888:8888 \

4. 進入apollo container by using

./docker/scripts/dev_into.sh

5. Docker for mac 的實現基於輕量虛擬機技術，網絡和文件系統共享完善。

在container中的/apollo文件夾直接映射host中的工做文件夾./apollo

6. 編譯

./apollo.sh build

(or)

./apollo.sh build_no_perception dbg

因爲macbook 13" 性能不佳或者網絡很差（編譯中可能會下載一個小文件），編譯可能中斷。

直接退出後重啓docker, 清空container，重啓apollo container進入接着編譯

Bazel會自動跳過已編譯過的項目。

整個編譯過程大概要~1h，須要約10G硬盤空間。

7. 編譯成功後運行

./scripts/bootstrap.sh

啓動

andrew@in_dev_docker:/apollo$ ./scripts/bootstrap.sh  

Started supervisord with dev conf

Start roscore...

voice_detector: started

dreamview: started

Dreamview is running at http://localhost:8888

8. 在host mac上打開chrome輸入地址 localhost:8888

進入dreamview前端界面

From the dropdown box selet "Navigation" mode.

9.  Replay demo rosbag

To see if the system works, use the demo 'bag' which feeds the system.

下載演示數據集 demo_2.5.bag （~約3G）

# get rosbag note that the command download is required
python ./docs/demo_guide/rosbag_helper.py demo_2.5.bag

運行演示數據集 demo_2.5.bag

# You can now replay this demo "bag" in a loop with the '-l' flag
rosbag play -l demo_2.5.bag

Dreamview should show a running vehicle now.

 

Comments：

1. Docker for mac的支持已經很好, mac能夠用作代碼編寫和編譯環境、模擬演示

2. 整個編譯運行空間，大約須要50G +，mac ssd!，macbook 13"編譯時間長

3. docker.qcow2 是docker用於存放image和container的單個文件，在docker for mac 中配置其大小最多爲60G。 

 

 

=============================

du -sh 查看當前文件夾大小

 

du -sh * | sort -n 統計當前文件夾(目錄)大小，並按文件大小排序

 

• #!/bin/bash
• # Delete all containers
• docker rm $(docker ps -a -q)
• # Delete all images
• docker rmi $(docker images -q)

 

Force-remove a running container 

This command will force-remove a running container. 

$ docker rm --force redis r

 

The main process inside the container referenced under the link redis will receive SIGKILL, then the container will be removed. 

 

Remove all stopped containers 

$ docker rm $(docker ps -a -q) 

 

This command will delete all stopped containers. The command docker ps -a -q will return all existing container IDs and pass them to the rm command which will delete them. Any running containers will not be deleted. 

 

Remove a container and its volumes 

$ docker rm -v redis redis 

 

This command will remove the container and any volumes associated with it. Note that if a volume was specified with a name, it will not be removed.